SYNAPTICON SOMANET Node Series Manuale utente

SOMANET Node rev.

E.1

Documentation v 3.2.0 | Build: 2020-05-25

Table of Contents
1 SOMANET Node rev. E.1
1.1 Technical Specifications
1.1.1 Power Specifications
1.1.2 General specifications
1.2 Hardware Diagrams
1.2.1 EtherCAT module
1.2.2 Processor module
1.2.3 Drive module
1.3 Installation Guide
1.3.1 Wiring instructions
1.3.1.1 Overview of connectors
1.3.1.2 Power supply, phases and brake
1.3.1.2.1 Pinout Power Terminal
1.3.1.2.1.1 Notes about choosing the supply voltage
1.3.1.2.1.2 Using a PELV or SELV power supply
1.3.1.2.1.3 Warning about using contactors behind the power supply
1.3.1.2.2 Connecting a Brake
1.3.1.3 Encoders and IO
1.3.1.3.1 Encoder Port 1
1.3.1.3.2 Encoder Port 2
1.3.1.3.3 Encoder Port 3 / Digital IO
1.3.1.3.4 Analog IN
1.3.1.3.5 EtherCAT port
1.3.1.3.5.1 EtherCAT IN Port
1.3.1.3.5.2 EtherCAT OUT Port
1.3.1.4 Connector details and mating parts numbers
1.3.2 Mounting instructions
1.3.2.1 Heat dissipation
1.3.2.2 Thermal mounting considerations
1.3.2.3 Dimensions
1.3.2.4 Interference with magnetic fields
1.3.2.5 Downloads
1.3.3 On-site installation guide
1.3.3.1 Field wiring terminal marking
1.4 LED signals
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 2/60

1.4.1 Overview
1.4.1.1 Legend
1.4.2 Core LED
1.4.2.1 Firmware
1.4.2.2 Bootloader
1.4.3 Drive LED
1.4.4 Com LED
1.5 Safety Module rev A.3 (Original instructions)
1.5.1 Dimensions
1.5.2 CAD File
1.5.3 Downloads
1.5.4 Specifications of the safety functions
1.5.4.1 System requirements
1.5.4.2 Technical specifications
1.5.4.3 Block diagram
1.5.5 Safety connector pinouts and mating parts
1.5.5.1 Connector Pinout
1.5.5.1.1 Safe digital I/O port
1.5.5.1.2 Safe brake terminal
1.5.5.1.3 Connector types and mating parts numbers
1.5.6 Wiring the safety inputs
1.5.6.1 Disabling the safety functions
1.5.6.2 Cabling lenghts
1.5.6.3 Connection diagrams for the STO inputs
1.5.6.3.1 Manual switch + drives
1.5.6.3.2 Safety PLC PM (Plus-Minus output) + drives
1.5.6.3.3 Safety PLC PP (Plus-Plus output) + drives
1.5.6.4 Connection diagram for the brake
1.5.7 Using the safety functions
1.5.7.1 Timing diagrams
1.5.7.1.1 Timing diagram for STO-function without SBC
1.5.7.1.2 Timing diagram for STO-function with SBC-function
1.5.7.2 Truth table for digital inputs
1.5.7.3 Diagnostic functions
1.5.7.3.1 Fault diagnostics
1.5.7.3.2 Fault reaction
1.5.7.3.3 Resetting diagnostic faults
1.5.7.4 STO-SBC status register
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Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 3/60

1.5.8 Commissioning and maintenance

1.5.8.1 Commissioning

1.5.8.2 Maintenance

1.5.9 Examples for realising safety functions

1.5.9.1 Emergency stop

1.5.9.2 Stop category 1 emergency stop (Safe stop 1)

1.5.9.2.1 Prerequisites

1.5.9.2.2 Wiring

1.5.9.2.3 Configuration

1.5.9.2.4 Verification

1.5.9.3 Prevention of unexpected start-up

1.5.10 Changelog of the safety-related documentation

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1 SOMANET Node rev. E.1
Attention
Attention
When dealing with electronic devices, always consider 
When dealing with electronic devices, always consider these handling instructions!
these handling instructions!
Technical specifications
Hardware diagrams
Installation guide
Wiring instructions
Power supply, phases and brake
Encoders and IO
Connector types and mating parts numbers
Mounting instructions
On-site installation guide
LED signals
Safety Module
Specifications of the safety functions
Safety connectors
Wiring the safety inputs
Using the safety functions
Examples for realising safety functions
Emergency stop
Safe Stop 1
Prevention of unexpected start-up
Commissioning and maintenance
Changelog of the safety-related documentation
Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1
© 2020 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich   Documentation v 3.2.0 | Build: 2020-05-25 5/60

1.1 Technical Specifications

1.1.1 Power Specifications

Power Specifications

Node Size Node 400 Node 1000 Node 2000

Maximum Peak Output Power 415 W 1,040 W 2,080 W

Maximum Continuous Output Power * 415 W 1,040 W 1,200 W

Rated Supply Voltage ** 12-48 V DC

Maximum Supply Voltage ** 60 V DC

Minimum Supply Voltage ** 8 V DC

Maximum Input Current DC 9.6 A DC 24 A DC 48 A DC

Maximum Phase Current RMS 13.2 A RMS 33 A RMS 66 A RMS

Maximum Continuous Phase Current RMS * 13.2 A RMS 33 A RMS 36 A RMS

Efficiency (at Maximum Power) 98 %

Standby Power Consumption 0.4 W

Brake control power output 0-48 V PWM Phase D ***

* These values can be achieved with a motor that is typical for robotic applications, reaching its

maximum power at 60% of its RPM maximum.

This case is used as a realistic assumption to specify the datasheet value for power. Beyond that, the

servo drive itself is able to provide higher power, as it is able to drive its maximum voltage and its

maximum current at the same time.

In reality, no motor can consume both maximum values at the same time, so there is no operating point

of the overall system (motor + drive) that would actually use the theoretical maximum power of the drive.

As the calculation bases on a reference motor, there are setups with large motors that are able to even

exceed the values shown here.

The maximum continuous output power and phase currents are highly dependent on the cooling

situation. Please refer to our Thermal mounting considerations for details.

** The operating voltage is 12-48 V DC. The maximum supply voltage is only for buffering peaks when

braking. The minimum voltage is for configuration purposes only. Please refer to our power supply

instructions for details.

*** This is a fourth phase that can also be used for other purposes (see Manually controlling phase D

voltage) it has a maximum current of 10 A.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.1.2 General specifications

General specifications

Supported Communication

Standard

EtherCAT

Number of Phases 4

Supported Motors 1 x 3-phase BLDC-Motor and 1 active brake

Up to 2 Brushed DC Motors [1]

Brake control voltage 0-48 V PWM Phase D

Analog Inputs 4 (2 x single-ended 0-10V, 2 x differential ±5V) [2]

Digital IOs 4 × GPIO / SPI [3] / I C [3] (3.3 V CMOS logic) [4]

Encoder Connectors 2 x 4ch. RS-422

Supported Standard Encoder

Interfaces

Incremental Encoder (ABI), HALL, BiSS-C, SSI, SPI [3], I C [3]

Supported Encoder Types Encoder Port 1

Incremental Encoder (ABI),

BiSS-C, SSI, Half-Duplex, A-

Format

Encoder Port 2

Incremental Encoder (ABI), HALL,

BiSS-C, SSI, I C [3]

Incremental Encoder max

frequency

1.4 MHz [5] (supports up to 14,000 rpm with a 4,096 resolution

incremental encoder)

Hardware Protections Overcurrent, Overvoltage, Undervoltage, Temperature

Compliance with standards CISPR 11 Class B

IEC 61000-4-6

IEC 61000-4-3

IEC 61000-4-2

IEC 61000-4-8

Dimensions 70 x 40 x 23 mm

Weight 85 g (incl. Heatsink)

Operating temperature 0 °C [6] to 40 °C

Storage Temperature -35 to 85 °C

Max. installation altitude 2000 m

Humidity 5-85% rH

Sensors on-board DC-BUS Voltage, DC-BUS current, Phase Voltage, Phase current

(two phases measured, one computed), Temperature

[1] Currently not supported by our standard software. Can be developed upon request, please

contact sales@synapticon.com

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

[2] All Analog Inputs can be configured as single-ended 0-5 V, 0-10 V, 0-20 V or differential ±5 V,

±10 V independently. Upon request only, please contact sales@synapticon.com

[3] Upon Request

[4] Two Digital IO can be configured as 5.0 V CMOS logic. Upon request only, please contact

sales@synapticon.com

[5] Depends on the firmware used. Value given for v4.1

[6] The actual lowest temperature is limited by the dew point. This depends on several factors,

e.g. the ambient humidity and how quick the drive cools down after operation. Special care

must be taken when the servo drive is actively cooled below ambient temperature.

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.2 Hardware Diagrams

Due to the modular nature of SOMANET Node, the hardware diagrams of each module are listed

separately.

1.2.1 EtherCAT module

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

1.2.2 Processor module

Hardware Manuals / SOMANET Node / SOMANET Node rev. E.1

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